Finite Element Analysis And Topology Optimization Of Robotic Structure For Loading And Unloading

At present,the most frequently used punching and unloading robots in various industrial fields are mainly Cartesian coordinate systems and articulated robots.However,these two types of robots have some drawbacks.The main disadvantage of the former is that the flexibility is relatively low and the space is occupied.It is relatively large;the latter is expensive and costs a lot of maintenance during its use.Due to the existence of these shortcomings,the development of these two types of robots is limited to a certain extent.For some factories that produce small and medium-sized stamping parts,it is not possible to produce large-scale products.In order to enable this market to be developed and developed,this paper has important practical significance for research and analysis of related technologies.In-depth analysis of the workpiece stamping process,understanding the functional requirements of the stamping robot,based on its functional requirements,designed three different solutions,and through the comparative analysis,determined the optimal design,detailed design of the various components of the stamping robot It includes a robot body,a mechanical unit,a vacuum unit,a vision unit,and an electrical control unit.Secondly,SolidWorks is used to establish the geometric model of the robot.The finite element analysis of some important parts such as the fuselage and lifting support of the robot is carried out by Workbench.At the same time,the modal analysis of the whole and the whole is carried out,and the relevant index parameters are obtained.According to the data analysis,the relevant information and the trend change graph of various parameter indicators under the operating state of the industrial robot are obtained,and finally the motion law is obtained.According to the analysis data and simulation results obtained in the experiment,under the condition that the relevant index parameters such as accuracy and stiffness are guaranteed to meet the requirements,the topology operation is used to optimize the operation,and at the same time,the MOGA method is upgraded under the requirements of relevant index parameters.The improved arm was compared and compared with the pre-optimization scheme.The results show that the weight of the optimized arm is increased by 0.966 kg,but the deformation is reduced by 61.2%.Through optimization,the performance advantage of the material itself is demonstrated,and the deformation is effectively reduced.The accuracy is to some extent.In addition,the maximum deformation degree of the lifting stand after optimization is 0.15255 mm,and the maximum equivalent stress is 21.356 MPa,which meets the standard.